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根据上述分类,总结了代表性的HDR技术的优缺点,如表1所示。采用多重曝光的方法,需要采集大量的条纹图像,特别是当被测表面具有大范围反射率变化时,测量效率降低。另外对于未知场景的测量,此方法也具有一定盲目性。其优点在于测量精度和SNR较高,不需要搭建额外的硬件系统,并且可以测量具有复杂纹理和多颜色的表面。例如Jiang等人[30]提出的HDR数字条纹投影技术具有良好的发展前景,可以在环境光下实现高反射率表面的快速测量并且具有较高的SNR。使用调整投影图案强度的HDR技术,与使用多重曝光法一样具有一定的盲目性,测量效率低,不能自动预测参数,一般要依赖于经验或尽可能多地调整投射光强值,因此不适合在线测量。但是Waddington和Kofman[40,42]介绍了一种避免高反射率表面图像饱和的方法,由于在每个像素处使用不饱和的最高MIGL,所以每个像素都可以保持较高的SNR,并且允许在不受环境约束的情况下进行各种测量应用。也有部分研究学者采用偏振滤光片的方法,但添加的偏振滤光片削弱了漫反射的光强,降低了SNR,同时也导致硬件系统比较复杂。如李锋等人[51]使用偏振滤光片的HDR技术精确且快速,通过加入偏振滤光片可以去除高反光区域的影响,但同时也造成SNR的降低以及硬件系统相对复杂。相比而言,使用颜色不变性的HDR技术,不需要先验步骤和后期处理,可以用于在线测量。但是这种技术很容易受到表面颜色和复杂纹理的影响,精度低。而光度立体技术可以实现高精度测量,缺点是由于系统结构的限制,单次测量的表面范围很小,因此,测量整个表面需要很长时间,不适合在线检测。
表 1 HDR技术中各类方法的优缺点
Table 1. Advantages and disadvantages of various methods in HDR technology
Method Ref. Advantage Disadvantage Multiple exposures [28][30] High accuracy. High SNR. No additional hardware. Complex textures and colors Lots of fringe patterns-Low efficiency. A certain blindness for unknown scenes Adjusting projected pattern intensities [40][41] High SNR. No a priori needed Low efficiency. No auto- prediction of parameters. Offline applications Polarizing filters [51] High accuracy. Possible online applications. Measuring mirror like objects Low SNR. Complexity of hardware. No measure dark surface Color invariants [61] No priori step and postprocessing. Online applications Low accuracy. No complex textures and colors Photometric stereo [65] High accuracy Offline applications. Additional hardware 表2进一步列出了HDR技术中各类典型方法在所需采集图像数量和计算精度上的对比。其中,Jiang等人[30]提出的技术可以用来测量表面具有高反射率的标准瓷球的精确三维形貌。引入条纹图像合成算法,通过选择边缘调制强度最高的原始条纹像素,避免图像过度饱和以及条纹调制度较低的现象。但它需要拍摄大量的原始条纹图像以合成HDR图像。因此,他们的计算过程较为复杂。Chen等人[41]提出的基于自适应条纹投影技术可以测量由铝合金制成的高反光表面,并且可以避免图像饱和,在高反光区域保持良好的条纹调制度。此种算法采集的图像数量较少,降低了测量过程中复杂的预处理过程。另外,Feng等人[28]介绍了一种基于数字条纹投影实现HDR三维形貌测量的通用解决方案。对于所提出的偏振方法,在测量平面黑/白标定板的实验中,所使用的偏振滤光片降低了整个条纹图像的强度,导致了较低的SNR,因此测量精较低。基于四进制颜色编码模式,Benveniste和Unsalan[61]提出的算法最简单而且所需采集图像数量最少。然而,由于分辨率有限,所以测量精度不高。相比之下,Meng等人[65]开发的gonio-plenoptic成像系统可以达到很高的精度。但是,他们的系统一次只能测量一小部分表面,因此,测量整个表面需要很长时间,不适合在线应用。
Three-dimensional shape measurement techniques of shiny surfaces
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摘要: 陶瓷、古文物以及金属工件等高反光物体表面的三维形貌测量在各个领域有大量的需求和应用。由于表面反射率变化范围较大以及相机灰度范围有限等问题,传统的条纹投影方法不能正确地测量高反光表面的三维形貌。综述了高反光表面三维形貌测量技术的国内外研究现状、应用领域和未来发展方向。首先,根据所采用原理和测量方法的不同,将现有的高动态范围三维形貌测量技术分为下述六类进行详细的介绍:多重曝光法、投影图案强度法、偏振滤光片法、颜色不变量法、光度立体技术以及其他技术。然后,详细的比较了各种技术的优缺点并归纳其适应性分析。最后,总结了高反光表面三维形貌测量技术的应用领域并展望了该技术的未来研究方向。基于文中综述的内容,使用者可根据不同的应用需求和测量条件选择相应的最佳三维测量方法,进而更精确的重建高反光表面的三维形貌。Abstract: There are a large number of three-dimensional (3D) shape measurement requirements and applications for objects with shiny surfaces, such as ceramics, ancient artifacts, and metal workpieces. However, the traditional fringe projection method cannot accurately measure shiny surfaces due to the large range of reflectivity of the objects with shiny surfaces and the limited maximum gray level of the camera. This paper reviewed the recent developments, application fields and future research directions of high dynamic range 3D shape measurement technologies of shiny surface. First, according to the principle and measurement method, the existing 3D measurement technologies of high dynamic range were divided into the following six categories: multiple exposures methods, projected patterns intensities adjusting methods, polarizing filters methods, color invariants methods, photometric stereo technology and miscellaneous technologies. Then, the advantages and disadvantages of these technologies were compared in detail and their adaptability was summarized. Finally, this paper summarized the application fields of shiny surfaces in 3D shape measurement technology and prospects the future research directions. It can provide users with the optimal 3D measurement method according to the different application requirements and the different measurement conditions, eventually the 3D shape of shiny surfaces can be reconstructed more accurately.
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Key words:
- 3D shape measurement /
- high dynamic range /
- fringe projection /
- shiny surface /
- phase calculation
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图 1 使用Chen[41]等人提出方法测量车门的测量结果;(a)采集的单一光强条纹图;(b)从(a)获得的绝对相位图;(c)使用单一光强条纹图计算得到的三维数据;(d)采集的自适应条纹图;(e)从(d)获得的绝对相位图;(f)使用自适应条纹图计算得到的三维数据
Figure 1. The measurement results of the car door by using methods proposed by Chen[41] et al; (a) captured single intensity fringe; (b) absolute phase map from (a); (c) 3D data calculated by using a single intensity fringe pattern; (d) captured adaptive fringe; (e) absolute phase map from (d); (f) 3D data calculated by using an adaptive fringe pattern
图 2 使用Chen[46]等人提出方法测量车门的测量结果;(a)采集的光强图像(灰度级分别从255到55);(b)分别计算出的模板图像;(c)合成后的图像;(d)最优投射光强图;(e)投影的自适应条纹图;(f)采集的自适应条纹图;(g)绝对相位图;(h)重建后的三维数据
Figure 2. The measurement results of the car door by using methods proposed by Chen[46] et al; (a) captured patterns at the uniform gray-level pattern sequence ranging from 255 to 55; (b) calculated mask pattern separately; (c) composited image; (d) optimal projection pattern; (e) projected adaptive fringe pattern; (f) captured adaptive fringe pattern; (g) absolute phase image; (h) constructed 3D data
表 1 HDR技术中各类方法的优缺点
Table 1. Advantages and disadvantages of various methods in HDR technology
Method Ref. Advantage Disadvantage Multiple exposures [28][30] High accuracy. High SNR. No additional hardware. Complex textures and colors Lots of fringe patterns-Low efficiency. A certain blindness for unknown scenes Adjusting projected pattern intensities [40][41] High SNR. No a priori needed Low efficiency. No auto- prediction of parameters. Offline applications Polarizing filters [51] High accuracy. Possible online applications. Measuring mirror like objects Low SNR. Complexity of hardware. No measure dark surface Color invariants [61] No priori step and postprocessing. Online applications Low accuracy. No complex textures and colors Photometric stereo [65] High accuracy Offline applications. Additional hardware -
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